feature/frame class

Frame class to wrap all channels. Should be easier to use in code as access to any (available/calculated) channel is possible. Automatic transfers between host/gpu if not available in other.

components/rgbd-sources/include/ftl/rgbd/frame.hpp

@@ -12,17 +12,19 @@ namespace rgbd {
 typedef unsigned int channel_t;
 
 static const channel_t kChanNone = 0;
-static const channel_t kChanLeft = 0x0001;
-static const channel_t kChanDepth = 0x0002;
-static const channel_t kChanRight = 0x0004;
-static const channel_t kChanDisparity = 0x0008;
+static const channel_t kChanLeft = 0x0001;		// CV_8UC3
+static const channel_t kChanDepth = 0x0002;		// CV_32FC1
+static const channel_t kChanRight = 0x0004;		// CV_8UC3
+static const channel_t kChanDisparity = 0x0008; // CV_32FC1
 static const channel_t kChanDeviation = 0x0010;
 static const channel_t kChanNormals = 0x0020;
 static const channel_t kChanConfidence = 0x0040;
-static const channel_t kChanFlow = 0x0080;
+static const channel_t kChanFlow = 0x0080;		// CV_16SC2 (format 10.5) from NVOF
 static const channel_t kChanEnergy = 0x0100;
-static const channel_t kChanLeftGray = 0x0200;
-static const channel_t kChanRightGray = 0x0400;
+
+// should l/r gray be removed (not that expensive to re-calculate if needed)?
+static const channel_t kChanLeftGray = 0x0200;	// CV_8UC1
+static const channel_t kChanRightGray = 0x0400;	// CV_8UC1
 
 static const channel_t kChanOverlay1 = 0x1000;
 
@@ -33,6 +35,9 @@ inline bool isFloatChannel(ftl::rgbd::channel_t chan) {
 	return (chan == ftl::rgbd::kChanDepth || chan == ftl::rgbd::kChanEnergy);
 }
 
+// TODO:	interpolation for scaling depends on channel type;
+//			NN for depth/disparity/optflow, linear/cubic/etc. for RGB
+
 class Frame;
 
 class Frame {
@@ -100,6 +105,8 @@ private:
 			case kChanConfidence:		return 7;
 			case kChanFlow:				return 8;
 			case kChanEnergy:			return 9;
+			case kChanLeftGray:			return 11;
+			case kChanRightGray:		return 12;
 			// should not happen (error); returned index is kChanNone
 			default:					return 0;
 		}